cleanup expander

drivers/expander.cpp

@@ -31,6 +31,24 @@ const static uint8_t REG_HALL_SENSITIVITY = 0x31;
 const static uint8_t REG_CLOSE_SENSITIVITY = 0x32;
 const static uint8_t REG_SWITCH_TOUCH_EVENT = 0x33;
 
+/// The global data for the expander peripheral.
+class ExpanderPeripheral {
+    // TODO: change these to private
+    // or even make this class hidden
+    public: 
+    SemaphoreHandle_t state_mutex;
+    ExpanderState state;
+
+    // channels
+    QueueHandle_t button_press_events;
+    QueueHandle_t button_release_events;
+    QueueHandle_t switch_flip_events;
+    QueueHandle_t switch_touch_events;
+    QueueHandle_t touch_events;
+    QueueHandle_t keypad_press_events;
+    QueueHandle_t keypad_release_events;
+};
+
 ExpanderPeripheral expander_peripheral_singleton;
 
 // forward declarations
@@ -139,8 +157,6 @@ static void expander_task(void *arg) {
 
         // Wait for interrupt notification (signal is sent when INT falls)
         ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
-        // loop continues and will process events once INT goes low
-        printf("WAKE\n");
     }
 }
 
@@ -204,9 +220,7 @@ static void handle_button_switch_event(uint8_t event) {
 
         Switch sw = static_cast<Switch>(number);
         SwitchFlip sw_flip = SwitchFlip(sw, pressed);
-        if (xQueueSendToBack(expander_peripheral_singleton.switch_flip_events, &sw_flip, 0) != pdTRUE) {
-            ESP_LOGE(TAG, "Failed to send switch flip event!");
-        }
+        xQueueSendToBack(expander_peripheral_singleton.switch_flip_events, &sw_flip, 0);
         xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
         if (pressed) {
             // set
@@ -220,16 +234,12 @@ static void handle_button_switch_event(uint8_t event) {
         // button
         Button button = static_cast<Button>(number);
         if (pressed) {
-            if (xQueueSendToBack(expander_peripheral_singleton.button_press_events, &button, 0) != pdTRUE) {
-                ESP_LOGE(TAG, "Failed to send button press event!");
-            }
+            xQueueSendToBack(expander_peripheral_singleton.button_press_events, &button, 0);
             xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
             expander_peripheral_singleton.state.button_state |= 1 << number;
             xSemaphoreGive(expander_peripheral_singleton.state_mutex);
         } else {
-            if (xQueueSendToBack(expander_peripheral_singleton.button_release_events, &button, 0) != pdTRUE) {
-                ESP_LOGE(TAG, "Failed to send button release event!");
-            }
+            xQueueSendToBack(expander_peripheral_singleton.button_release_events, &button, 0);
             xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
             expander_peripheral_singleton.state.button_state &= ~(1 << number);
             xSemaphoreGive(expander_peripheral_singleton.state_mutex);
@@ -252,16 +262,12 @@ static void handle_keypad_event(uint8_t event) {
     // }
 
     if (pressed) {
-        if (xQueueSendToBack(expander_peripheral_singleton.keypad_press_events, &key, 0) != pdTRUE) {
-            ESP_LOGE(TAG, "Failed to send keypad press event!");
-        }
+        xQueueSendToBack(expander_peripheral_singleton.keypad_press_events, &key, 0);
         xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
         expander_peripheral_singleton.state.keypad_state |= 1 << number;
         xSemaphoreGive(expander_peripheral_singleton.state_mutex);
     } else {
-        if (xQueueSendToBack(expander_peripheral_singleton.keypad_release_events, &key, 0) != pdTRUE) {
-            ESP_LOGE(TAG, "Failed to send keypad release event!");
-        }
+        xQueueSendToBack(expander_peripheral_singleton.keypad_release_events, &key, 0);
         xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
         expander_peripheral_singleton.state.keypad_state &= ~(1 << number);
         xSemaphoreGive(expander_peripheral_singleton.state_mutex);
@@ -278,15 +284,11 @@ static void handle_touch_event(uint8_t event) {
 
     if ((sensor & FINGERPRINT_BIT) != 0) {
         TouchedReleased touch_state = static_cast<TouchedReleased>(touched);
-        if (xQueueSendToBack(expander_peripheral_singleton.touch_events, &touch_state, 0) != pdTRUE) {
-            ESP_LOGE(TAG, "Failed to send touch event!");
-        }
+        xQueueSendToBack(expander_peripheral_singleton.touch_events, &touch_state, 0);
     } else {
         Switch sw = static_cast<Switch>(sensor);
         SwitchTouch sw_touch = SwitchTouch(sw, touched);
-        if (xQueueSendToBack(expander_peripheral_singleton.switch_touch_events, &sw_touch, 0) != pdTRUE) {
-            ESP_LOGE(TAG, "Failed to send switch touch event!");
-        }
+        xQueueSendToBack(expander_peripheral_singleton.switch_touch_events, &sw_touch, 0);
     }
 
     xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
@@ -308,3 +310,181 @@ static void handle_close_hal_event(uint8_t event) {
     (void)event;
 }
 
+// InputsController implementations
+
+/// Clears all events waiting in the queues.
+void InputsController::clear_all_events() {
+    xQueueReset(expander_peripheral_singleton.button_press_events);
+    xQueueReset(expander_peripheral_singleton.button_release_events);
+    xQueueReset(expander_peripheral_singleton.switch_flip_events);
+    xQueueReset(expander_peripheral_singleton.switch_touch_events);
+    xQueueReset(expander_peripheral_singleton.touch_events);
+    xQueueReset(expander_peripheral_singleton.keypad_press_events);
+    xQueueReset(expander_peripheral_singleton.keypad_release_events);
+}
+
+ExpanderState InputsController::get_input_state() {
+    xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+    ExpanderState state_copy = expander_peripheral_singleton.state;
+    xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+    return state_copy;
+}
+
+/// Returns `true` iff there is a button press event waiting.
+bool InputsController::has_button_press() {
+    return uxQueueMessagesWaiting(expander_peripheral_singleton.button_press_events) > 0;
+}
+
+/// Gets the next button press event (if any).
+std::optional<Button> InputsController::get_button_press() {
+    Button b;
+    if (xQueueReceive(expander_peripheral_singleton.button_press_events, &b, 0) == pdTRUE) {
+        return b;
+    }
+    return std::nullopt;
+}
+
+/// Gets the next button press event, waiting if neccesary.
+Button InputsController::wait_button_press() {
+    Button b;
+    xQueueReceive(expander_peripheral_singleton.button_press_events, &b, portMAX_DELAY);
+    return b;
+}
+
+/// Gets the current state of the buttons.
+uint8_t InputsController::button_state() {
+    xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+    uint8_t value = expander_peripheral_singleton.state.button_state;
+    xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+    return value;
+}
+
+/// Returns `true` iff there is a button release event waiting.
+bool InputsController::has_button_release() {
+    return uxQueueMessagesWaiting(expander_peripheral_singleton.button_release_events) > 0;
+}
+
+/// Gets the next button release event (if any).
+std::optional<Button> InputsController::get_button_release() {
+    Button b;
+    if (xQueueReceive(expander_peripheral_singleton.button_release_events, &b, 0) == pdTRUE) {
+        return b;
+    }
+    return std::nullopt;
+}
+
+/// Gets the next button release event, waiting if neccesary.
+Button InputsController::wait_button_release() {
+    Button b;
+    xQueueReceive(expander_peripheral_singleton.button_release_events, &b, portMAX_DELAY);
+    return b;
+}
+
+/// Returns `true` iff there is a switch flip event waiting.
+bool InputsController::has_switch_flip() {
+    return uxQueueMessagesWaiting(expander_peripheral_singleton.switch_flip_events) > 0;
+}
+
+/// Gets the next switch flip event (if any).
+std::optional<SwitchFlip> InputsController::get_switch_flip() {
+    SwitchFlip s;
+    if (xQueueReceive(expander_peripheral_singleton.switch_flip_events, &s, 0) == pdTRUE) {
+        return s;
+    }
+    return std::nullopt;
+}
+
+/// Gets the next switch flip event, waiting if neccesary.
+SwitchFlip InputsController::wait_switch_flip() {
+    SwitchFlip s;
+    xQueueReceive(expander_peripheral_singleton.switch_flip_events, &s, portMAX_DELAY);
+    return s;
+}
+
+/// Gets the current state of the switches.
+uint8_t InputsController::switch_state() {
+    xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+    uint8_t value = expander_peripheral_singleton.state.switch_state;
+    xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+    return value;
+}
+
+/// Returns `true` iff there is a switch touch event waiting.
+bool InputsController::has_switch_touch() {
+    return uxQueueMessagesWaiting(expander_peripheral_singleton.switch_touch_events) > 0;
+}
+
+/// Gets the next switch touch event (if any).
+std::optional<SwitchTouch> InputsController::get_switch_touch() {
+    SwitchTouch s;
+    if (xQueueReceive(expander_peripheral_singleton.switch_touch_events, &s, 0) == pdTRUE) {
+        return s;
+    }
+    return std::nullopt;
+}
+
+/// Gets the next switch touch event, waiting if neccesary.
+SwitchTouch InputsController::wait_switch_touch() {
+    SwitchTouch s;
+    xQueueReceive(expander_peripheral_singleton.switch_touch_events, &s, portMAX_DELAY);
+    return s;
+}
+
+/// Gets the current state of the touch sensors.
+uint8_t InputsController::switch_touch_state() {
+    xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+    uint8_t value = expander_peripheral_singleton.state.touch_state;
+    xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+    return value;
+}
+
+/// Returns `true` iff there is a keypad press event waiting.
+bool InputsController::has_keypad_press() {
+    return uxQueueMessagesWaiting(expander_peripheral_singleton.keypad_press_events) > 0;
+}
+
+/// Gets the next keypad press event (if any).
+std::optional<KeypadKey> InputsController::get_keypad_press() {
+    KeypadKey k;
+    if (xQueueReceive(expander_peripheral_singleton.keypad_press_events, &k, 0) == pdTRUE) {
+        return k;
+    }
+    return std::nullopt;
+}
+
+/// Gets the next keypad press event, waiting if neccesary.
+KeypadKey InputsController::wait_keypad_press() {
+    KeypadKey k;
+    xQueueReceive(expander_peripheral_singleton.keypad_press_events, &k, portMAX_DELAY);
+    return k;
+}
+
+/// Returns `true` iff there is a keypad release event waiting.
+bool InputsController::has_keypad_release() {
+    return uxQueueMessagesWaiting(expander_peripheral_singleton.keypad_release_events) > 0;
+}
+
+/// Gets the next keypad release event (if any).
+std::optional<KeypadKey> InputsController::get_keypad_release() {
+    KeypadKey k;
+    if (xQueueReceive(expander_peripheral_singleton.keypad_release_events, &k, 0) == pdTRUE) {
+        return k;
+    }
+    return std::nullopt;
+}
+
+/// Gets the next keypad release event, waiting if neccesary.
+KeypadKey InputsController::wait_keypad_release() {
+    KeypadKey k;
+    xQueueReceive(expander_peripheral_singleton.keypad_release_events, &k, portMAX_DELAY);
+    return k;
+}
+
+/// Gets the current state of the keypad.
+uint16_t InputsController::keypad_state() {
+    xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+    uint16_t value = expander_peripheral_singleton.state.keypad_state;
+    xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+    return value;
+}
+

include/blk_box_drivers/expander.hpp

@@ -3,7 +3,9 @@
 
 #include "blk_box_drivers/i2c.h"
 #include <freertos/FreeRTOS.h>
+#include <freertos/queue.h>
 #include <freertos/semphr.h>
+#include <optional>
 
 #define EXPANDER_I2C_ADDR (0x7E)
 #define EXPANDER_I2C_SPEED (400000)
@@ -30,6 +32,9 @@ enum class Button: uint8_t {
     BLUE = 3,
 };
 
+constexpr uint8_t raw_value(Button v) { return static_cast<uint8_t>(v); }
+constexpr Button button_from_raw(uint8_t raw) { return static_cast<Button>(raw & 0b11); }
+
 /// The four switches on the bottom half.
 enum class Switch: uint8_t {
     S1 = 0,
@@ -38,11 +43,17 @@ enum class Switch: uint8_t {
     S4 = 3,
 };
 
+constexpr uint8_t raw_value(Switch v) { return static_cast<uint8_t>(v); }
+constexpr Switch switch_from_raw(uint8_t raw) { return static_cast<Switch>(raw & 0b11); }
+
 enum class TouchedReleased: uint8_t {
     Released = 0,
     Touched = 1,
 };
 
+constexpr uint8_t raw_value(TouchedReleased v) { return static_cast<uint8_t>(v); }
+constexpr TouchedReleased touched_released_from_raw(uint8_t raw) { return static_cast<TouchedReleased>(raw & 0b1); }
+
 /// One of the keys on the keypad.
 enum class KeypadKey: uint8_t {
     K0 = 0,
@@ -63,26 +74,44 @@ enum class KeypadKey: uint8_t {
     POUND = 15,
 };
 
+constexpr uint8_t raw_value(KeypadKey v) { return static_cast<uint8_t>(v); }
+constexpr KeypadKey keypad_key_from_raw(uint8_t raw) { return static_cast<KeypadKey>(raw & 0b1111); }
+
+constexpr char keypad_key_to_char(KeypadKey key) {
+    static constexpr char lookup[16] = {
+        '0', '1', '2', '3', '4', '5', '6', '7',
+        '8', '9', 'A', 'B', 'C', 'D', '*', '#'
+    };
+    return lookup[static_cast<uint8_t>(key) & 0b1111];
+}
+
+
 struct SwitchFlip {
 private:
-    // [bit2: pressed] [bit1-0: switch] 
+    // [bit2: up] [bit1-0: switch] 
     uint8_t data;
 
 public:
     // Constructor
-    SwitchFlip(Switch sw, bool pressed)
+    SwitchFlip(Switch sw, bool up)
         : data((static_cast<uint8_t>(sw) & 0b11) |
-               ((pressed ? 1 : 0) << 2)) {}
+               ((up ? 1 : 0) << 2)) {}
 
     // Default constructor
     SwitchFlip() : data(0) {}
 
+    // Raw value constructor
+    explicit SwitchFlip(uint8_t raw_data) : data(raw_data) {}
+
+    // Raw value getter
+    uint8_t raw() const { return data; }
+
     // Getters
     Switch get_switch() const {
         return static_cast<Switch>(data & 0b11);
     }
 
-    bool is_pressed() const {
+    bool is_up() const {
         return (data >> 2) & 1;
     }
 
@@ -91,8 +120,8 @@ public:
         data = (data & ~0b11) | (static_cast<uint8_t>(sw) & 0b11);
     }
 
-    void set_pressed(bool pressed) {
-        data = (data & ~(1 << 2)) | ((pressed ? 1 : 0) << 2);
+    void set_up(bool up) {
+        data = (data & ~(1 << 2)) | ((up ? 1 : 0) << 2);
     }
 };
 static_assert(sizeof(SwitchFlip) == 1);
@@ -111,6 +140,12 @@ public:
     // Default constructor
     SwitchTouch() : data(0) {}
 
+    // Raw value constructor
+    explicit SwitchTouch(uint8_t raw_data) : data(raw_data) {}
+
+    // Raw value getter
+    uint8_t raw() const { return data; }
+
     // Getters
     Switch get_switch() const {
         return static_cast<Switch>(data & 0b11);
@@ -144,6 +179,12 @@ public:
 
     ButtonOrSwitch() : data(0) {}
 
+    // Raw value constructor
+    explicit ButtonOrSwitch(uint8_t raw_data) : data(raw_data) {}
+
+    // Raw value getter
+    uint8_t raw() const { return data; }
+
     // Getters
     uint8_t number() const {
         return data & 0b11;
@@ -195,23 +236,41 @@ struct ExpanderState {
     ExpanderState() : touch_state(0), button_state(0), switch_state(0), keypad_state(0), hal_sense(0), close_hal_sense(0), hal(0), close_hal(0), rfid_state(0) {}
 };
 
-/// The global data for the expander peripheral.
-class ExpanderPeripheral {
-    // TODO: change these to private
-    public: 
-    SemaphoreHandle_t state_mutex;
-    ExpanderState state;
-
-    // channels
-    QueueHandle_t button_press_events;
-    QueueHandle_t button_release_events;
-    QueueHandle_t switch_flip_events;
-    QueueHandle_t switch_touch_events;
-    QueueHandle_t touch_events;
-    QueueHandle_t keypad_press_events;
-    QueueHandle_t keypad_release_events;
+class InputsController {
+public:
+    static void clear_all_events();
 
+    static ExpanderState get_input_state();
     
+    static bool has_button_press();
+    static std::optional<Button> get_button_press();
+    static Button wait_button_press();
+    static uint8_t button_state();
+
+    static bool has_button_release();
+    static std::optional<Button> get_button_release();
+    static Button wait_button_release();
+
+    static bool has_switch_flip();
+    static std::optional<SwitchFlip> get_switch_flip();
+    static SwitchFlip wait_switch_flip();
+    static uint8_t switch_state();
+
+    static bool has_switch_touch();
+    static std::optional<SwitchTouch> get_switch_touch();
+    static SwitchTouch wait_switch_touch();
+    static uint8_t switch_touch_state();
+
+    static bool has_keypad_press();
+    static std::optional<KeypadKey> get_keypad_press();
+    static KeypadKey wait_keypad_press();
+
+    static bool has_keypad_release();
+    static std::optional<KeypadKey> get_keypad_release();
+    static KeypadKey wait_keypad_release();
+    static uint16_t keypad_state();
+
+    // TODO: impl and add the hal and RFID stuff
 };
 
 #endif // EXPANDER_H